22 research outputs found

    Single-antenna GPS/Gyroscope/Magnetometer Integrated Attitude Estimation

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    ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ๋‹จ์ผ์•ˆํ…Œ๋‚˜ GPS ๋ฅผ ์ด์šฉํ•œ ์˜์‚ฌ์ž์„ธ์™€ ๊ทธ๋ฅผ ๋ณด์™„ํ•˜๊ธฐ ์œ„ํ•œ ์ž์ด๋กœ์Šค์ฝ”ํ”„์™€ ์ง€์ž๊ธฐ์„ผ์„œ์˜ ํ†ตํ•ฉ์„ ๋‹ค๋ฃจ๊ณ  ์žˆ๋‹ค. ์˜์‚ฌ์ž์„ธ๋Š” GPS ์˜ ์ธก์ •์น˜๋ฅผ ์ด์šฉํ•˜์—ฌ ์ถ”์ •๋œ ์ž์„ธ์ด๊ธฐ ๋•Œ๋ฌธ์— ์ถœ๋ ฅ์œจ์ด ๋‚ฎ๊ณ  ์‹œ๊ฐ„์ง€์—ฐ์ด ํฌํ•จ๋˜์–ด ์žˆ๋‹ค. ๋˜ํ•œ GPS ์˜ ์†๋„ ์ธก์ •์น˜๋ฅผ ๊ธฐ๋ฐ˜์œผ๋กœ ํ•˜๊ธฐ ๋•Œ๋ฌธ์— ๋น„ํ–‰์กฐ๊ฑด์— ๋”ฐ๋ผ์„œ ์‹ค์ œ ์ž์„ธ์™€ ์˜์‚ฌ์ž์„ธ ์‚ฌ์ด์—๋Š” ์ฐจ์ด๊ฐ€ ๋ฐœ์ƒํ•˜๊ฒŒ ๋œ๋‹ค. ์ด์™€ ๊ฐ™์€ ์˜์‚ฌ์ž์„ธ์˜ ๋ฌธ์ œ์ ์„ ์ž์ด๋กœ์Šค์ฝ”ํ”„์™€ ์ง€์ž๊ธฐ์„ผ์„œ๋ฅผ ์ด์šฉํ•˜์—ฌ ๊ฐœ์„ ํ•˜๋Š” ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์ œ์•ˆํ•˜๊ณ  ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ์ˆ˜ํ–‰ํ•˜์˜€๋‹ค.In this paper, we propose the attitude estimation algorithm integrating SAGPS(Single Antenna GPS), Gyroscope and Magnetometer. Pseudo-attitude from SAGPS has low output rate and time delay property. And it differs from actual attitude according to flight condition of airplane because it is based on velocity measurements of GPS. We adopted gyroscope and magnetometer to improve attitude accuracy and output rate of the pseudo-attitude. Using proposed method, simulation is performed and its results are shown.OAIID:oai:osos.snu.ac.kr:snu2012-01/104/0000003405/22SEQ:22PERF_CD:SNU2012-01EVAL_ITEM_CD:104USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:2012์ถ˜๊ณ„ํ•ญ๊ณต์šฐ์ฃผํ•™ํšŒ์‹ค์ ์ž๋ฃŒ_๋…ธํฌ๊ถŒ.pdfDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]:

    ์ฐจ๋Ÿ‰ ๊ฐ„ GPS ๊ณตํ†ต ๊ฐ€์‹œ์œ„์„ฑ ๊ฒ€์ƒ‰์„ ํ†ตํ•œ ์ƒ๋Œ€์œ„์น˜ ์ถ”์ • ์ •ํ™•๋„ ํ–ฅ์ƒ์— ๋Œ€ํ•œ ์—ฐ๊ตฌ

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    ๋ณธ ๋…ผ๋ฌธ์€ ์ €๊ฐ€์˜ GPS ์ˆ˜์‹ ๊ธฐ์™€ MEMS๊ธ‰ IMU, B-CDMA ๋ฌด์„  ํ†ต์‹  ๋ชจ๋“ˆ์„ ์ด์šฉํ•œ ๋‹ค์ˆ˜ ์ฐจ๋Ÿ‰์˜ ์ƒ๋Œ€์œ„์น˜ ์ถ” ์ •์— ๊ด€ํ•œ ์—ฐ๊ตฌ์ด๋‹ค. ์ฐจ๋Ÿ‰์˜ ์ƒ๋Œ€์œ„์น˜๋ฅผ ์ถ”์ •ํ•จ์— ์žˆ์–ด์„œ, ๊ฐ ์ฐจ๋Ÿ‰์˜ ๊ฐ€์‹œ ์œ„์„ฑ ์กฐํ•ฉ์ด ๋ถˆ์ผ์น˜ ํ•  ๊ฒฝ์šฐ ์˜ค์ฐจ๊ฐ€ ๊ธ‰์ฆํ•˜๋Š” ํ˜„์ƒ์ด ๋ฐœ์ƒํ•œ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š”, ์ด๋ฅผ ๊ฐœ์„ ํ•˜๊ธฐ ์œ„ํ•˜์—ฌ ์ธก์ •์น˜ ๊ธฐ๋ฐ˜์œผ๋กœ ์ƒ๋Œ€์œ„์น˜๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” RGPS ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์ œ์•ˆํ•œ๋‹ค. ๋™์‹œ์— GPS/INS ํ†ตํ•ฉ ํ•ญ๋ฒ• ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์ ์šฉํ•˜์—ฌ ๊ฐ ์ฐจ๋Ÿ‰์˜ ๋ฐฉํ–ฅ๊ฐ๊ณผ ์†๋„๋ฅผ ์ถ”์ •ํ•œ๋‹ค. ์ตœ์ข…์ ์œผ๋กœ RGPS ์•Œ๊ณ ๋ฆฌ์ฆ˜๊ณผ ๊ฐ ์ฐจ๋Ÿ‰์˜ GPS/INS ํ†ตํ•ฉํ•ญ๋ฒ• ์•Œ๊ณ ๋ฆฌ์ฆ˜ ๊ฒฐ๊ณผ๋ฅผ ์‚ฌ์šฉํ•œ Position Integration Filter ์•Œ๊ณ ๋ฆฌ์ฆ˜์œผ๋กœ๋ถ€ํ„ฐ ์ตœ์ข…์ ์ธ ์ƒ๋Œ€์œ„์น˜์™€ ์ƒ๋Œ€์†๋„๋ฅผ ์ถ”์ •ํ•œ๋‹ค. ์ด์™€ ๊ฐ™์€ ์—ฐ๊ตฌ ๊ฒฐ๊ณผ๋ฅผ ์ฆ๋ช…ํ•˜๊ธฐ ์œ„ํ•˜์—ฌ ์‹ค์ œ ์‹ค ํ—˜์„ ํ†ตํ•˜์—ฌ ์ถ”์ • ๊ฒฐ๊ณผ๋ฅผ ํ™•์ธํ•˜์˜€๋‹ค. ์‹ค์‹œ๊ฐ„ ํ”„๋กœ๊ทธ๋žจ๊ณผ ์‹คํ—˜์šฉ ๋ชจํ˜• ์ฐจ๋Ÿ‰์„ ์ œ์ž‘ํ•˜์—ฌ ์ƒ๋Œ€์œ„์น˜, ์ƒ๋Œ€์†๋„ ์ถ” ์ • ์‹คํ—˜์„ ์‹ค์‹œ, ์‹ค์ œ ํ™˜๊ฒฝ์—์„œ์˜ ์•Œ๊ณ ๋ฆฌ์ฆ˜์˜ ์„ฑ๋Šฅ์„ ๊ฒ€์ฆํ•˜์˜€๋‹ค.In this paper, we present relative positioning algorithm for moving land vehicle using GPS, MEMS IMU and B-CDMA module. This algorithm does not calculate precise absolute position but calculates relative position directly, so additional infrastructure and I2V communication device are not required. Proposed algorithm has several steps. Firstly, unbiased relative position is calculated using pseudorange difference between two vehicles. Simultaneously, the algorithm estimates position of each vehicle using GPS/INS integration. Secondly, proposed algorithm performs filtering and finally estimates relative position and relative velocity. Using proposed algorithm, we can obtain more precise relative position for moving land vehicles with short time interval as IMU sensor has. The simulation is performed to evaluate this algorithm and the several field tests are performed with real time program and miniature vehicles for verifying performance of proposed algorithm.OAIID:oai:osos.snu.ac.kr:snu2012-01/102/0000003405/9SEQ:9PERF_CD:SNU2012-01EVAL_ITEM_CD:102USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:05 ํ•œ์˜๋ฏผ(927~934).pdfDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]_YN:NCONFIRM:

    A New Relative Receiver Autonomous Integrity Monitoring Algorithm for Multiple Failures

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    authors' final manuscriptIn near future, GNSS GPS modernization, renewed GLONASS and a new Galileo signal will be available. And the accuracy of position solution will be better by courtesy of improved quality of ranging signal. As an expected accuracy is better, the threshold for failure will be reduced. As a result, the prior probability of failures could be larger than what is used now. Due to the increased prior probability of failures, probability of simultaneous multiple failures cannot be neglected any more. Furthermore there will be many more ranging sources makes it necessary to consider the possibility of simultaneous multiple failures. This paper develops and analyzes a new Relative Receiver Autonomous Integrity Monitoring (RRAIM) algorithm which can treat no only a single failure but also simultaneous multiple failures. A proposed algorithm uses measurement residuals and satellite observation matrices of several consecutive epochs for Failure Detection and Exclusion (FDE). It detects failures by monitoring the error vector itself instead of monitoring the projection of the error vector. The simulation results show that the algorithm is able to detect any instance of multiple failures which are not detected by the conventional RAIM algorithm.OAIID:oai:osos.snu.ac.kr:snu2012-01/104/0000003405/18SEQ:18PERF_CD:SNU2012-01EVAL_ITEM_CD:104USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:Manuscript_HoYun.pdfDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]:

    Multiple-Hypothesis RAIM Algorithm with an RRAIM Concept

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    author's final manuscript๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ๋ฏธ๋ž˜์˜ ๋‹ค์ค‘ Global Navigation Sattelite System (GNSS) ๋ฐ ๋‹ค์ค‘ ์ฃผํŒŒ์ˆ˜ ํ•ญ๋ฒ•์‹ ํ˜ธ ์‚ฌ์šฉ์ž๋ฅผ ์œ„ํ•œ ์ƒˆ๋กœ์šด ๋‹ค์ค‘ ๊ฐ€์„ค ์‚ฌ์šฉ์ž ๋ฌด๊ฒฐ์„ฑ ๊ฐ์‹œ ๊ธฐ๋ฒ•์„ ์ œ์•ˆํ•œ๋‹ค. ๊ธฐ์กด์˜ Weighted Least Squares (WLS) ์‚ฌ์šฉ์ž ๋ฌด๊ฒฐ์„ฑ ๊ฐ์‹œ (Receiver Autonomous Integrity Monitoring, RAIM) ๊ธฐ๋ฒ•์€ ๋™์‹œ์— ๋‘ ๊ฐœ ์ด์ƒ์˜ ์œ„์„ฑ์ด ๊ณ ์žฅ ๋‚˜์ง€ ์•Š๋Š”๋‹ค๋Š” ๊ฐ€์ • ํ•˜์— ์‚ฌ์šฉ์ž ์ธก์ •์น˜์˜ ๋ฌด๊ฒฐ์„ฑ์„ ๊ฐ์‹œํ•˜๋ฏ€๋กœ ๋™์‹œ์— ๋‘ ๊ฐœ ์ด์ƒ์˜ ์ธก์ •์น˜ ์ด์ƒ์ด ๋ฐœ์ƒํ•˜์˜€์„ ๋•Œ ์ ์ ˆํ•œ ๋Œ€์‘์„ ํ•  ์ˆ˜ ์—†๋‹ค๋Š” ๋ฌธ์ œ๊ฐ€ ์žˆ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์—ฌ๋Ÿฌ epoch์˜ ์ธก์ •์น˜ ์ž”์ฐจ์™€ ์œ„์„ฑ ๊ด€์ธกํ–‰๋ ฌ์˜ ๋ณ€ํ™”๋Ÿ‰์„ ํ™œ์šฉํ•˜์—ฌ ๋‹จ์ผ ๊ณ ์žฅ ๋ฟ๋งŒ ์•„๋‹ˆ๋ผ ๋‹ค์ค‘ ๊ณ ์žฅ์„ ํšจ์œจ์ ์œผ๋กœ ๊ฒ€์ถœํ•  ์ˆ˜ ์žˆ๋Š” ๊ธฐ๋ฒ•์„ ์ œ์•ˆํ•˜์˜€๋‹ค. ์ œ์•ˆ๋œ ๊ธฐ๋ฒ•์€ ๋ฐ˜์†กํŒŒ ์œ„์ƒ ์ธก์ •์น˜์˜ ๋ณ€ํ™”์œจ์„ ํ™œ์šฉํ•˜๋Š” Relative RAIM (RRAIM) ๊ธฐ๋ฒ•์„ ์ ์šฉํ•˜์—ฌ ์ตœ์†Œ ๊ฒ€์ถœ๊ฐ€๋Šฅ ๋ฐ”์ด์–ด์Šค(Minimum Detectable Bias, MDB)์˜ ํฌ๊ธฐ๋ฅผ ์ตœ์†Œํ™”ํ•˜์˜€๊ณ , ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ ์ˆ˜ ์‹ญ m ์ •๋„ ํฌ๊ธฐ์˜ ๋‹ค์ค‘ ๊ณ ์žฅ์„ ๊ฒ€์ถœํ•  ์ˆ˜ ์žˆ์—ˆ๋‹ค.OAIID:oai:osos.snu.ac.kr:snu2012-01/102/0000003405/3SEQ:3PERF_CD:SNU2012-01EVAL_ITEM_CD:102USER_ID:0000003405ADJUST_YN:YEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:์ตœ์ข…๋…ผ๋ฌธ_์œคํ˜ธ.hwpDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]_YN:NCONFIRM:

    ์˜์‚ฌ์œ„์„ฑ์˜ ํŽ„์‹ฑ๋ฐฉ๋ฒ•์— ๋Œ€ํ•œ GPS ์†Œํ”„ํŠธ์›จ์–ด ์ˆ˜์‹ ๊ธฐ์˜ L1, L2C ์‹ ํ˜ธํš๋“ ์„ฑ๋Šฅ๋ถ„์„

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    ์˜์‚ฌ์œ„์„ฑ์€ ์šฐ์ฃผ์ƒ๊ณต์˜ GPS ์œ„์„ฑ๊ณผ๋Š” ๋‹ฌ๋ฆฌ ์ง€์ƒ์ด๋‚˜ ๋น„ํ–‰์ฒด์— ์„ค์น˜๋˜์–ด GPS ์œ„์„ฑ๊ณผ ๊ฐ™์ด ๊ฑฐ๋ฆฌ๋ฅผ ์ธก์ •ํ•  ์ˆ˜ ์žˆ๋Š” ranging ์‹ ํ˜ธ๋ฅผ ์ „์†กํ•˜๋Š” ์ „์†ก๊ธฐ์ด๋‹ค. ์˜์‚ฌ์œ„์„ฑ์€ ์ •ํ™•์„ฑ, ๊ฐ€์šฉ์„ฑ, ๋ฌด๊ฒฐ์„ฑ์„ ํ–ฅ์ƒ์‹œํ‚ฌ ์ˆ˜ ์žˆ์œผ๋‚˜ GPS ์œ„์„ฑ ์‹ ํ˜ธ์— ๋Œ€ํ•ด ์‹ ํ˜ธ์˜ ํฌํ™” ๋˜๋Š” ๊ฐ„์„ญ์„ ์ผ์œผํ‚จ๋‹ค. ์˜์‚ฌ์œ„์„ฑ์˜ ๊ทผ์›๊ฑฐ๋ฆฌ ๋ฌธ์ œ๋ฅผ ํ•ด๊ฒฐํ•˜๊ธฐ ์œ„ํ•ด ์˜์‚ฌ์œ„์„ฑ์˜ ์‹ ํ˜ธ ๋ฅผ ํŽ„์‹ฑ์ด ์žˆ์„ ๋•Œ๋งŒ ๋‚ด๋ณด๋‚ด๋Š” ๊ธฐ๋ฒ•์„ ์ฃผ๋กœ ์‚ฌ์šฉํ•œ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์˜์‚ฌ์œ„์„ฑ์˜ ์ •์  ํŽ„์‹ฑ, ์ด๋™ ํŽ„์‹ฑ, ๋žœ๋ค ํŽ„์‹ฑ ๊ธฐ๋ฒ•๊ณผ ์˜์‚ฌ์œ„์„ฑ์˜ ๊ฐœ์ˆ˜๊ฐ€ GPS ์†Œํ”„ํŠธ์›จ์–ด ์ˆ˜์‹ ๊ธฐ์˜ L1 ๋ฐ L2C ์‹ ํ˜ธํš๋“์— ๋ฏธ์น˜๋Š” ์˜ํ–ฅ์„ ๋ถ„์„ํ•˜์˜€๋‹ค. GPS L1์‹ ํ˜ธ์˜ ๊ฒฝ์šฐ ์˜์‚ฌ์œ„์„ฑ์ด 1๊ฐœ์ผ๋•Œ๋Š” ์ •์ ํŽ„์‹ฑ์— ๋Œ€ํ•œ GPS ์†Œํ”„ํŠธ์›จ์–ด ์ˆ˜์‹ ๊ธฐ์˜ ์‹ ํ˜ธ ํš๋“ ๋ฐ ์ถ”์  ์„ฑ๋Šฅ ์ด ๊ฐ€์žฅ ์ข‹์•˜๊ณ  2๊ฐœ ์ด์ƒ์ผ ๋•Œ๋Š” ๋žœ๋คํŽ„์‹ฑ์— ๋Œ€ํ•œ ์„ฑ๋Šฅ์ด ๊ฐ€์žฅ ์ข‹์•˜๋‹ค. L2C ์‹ ํ˜ธ๋Š” ์„ธ๊ฐ€์ง€ ํŽ„์‹ฑ์— ๋Œ€ํ•œ ์„ฑ ๋Šฅ์ด ๋น„์Šทํ•˜๊ฒŒ ์•ˆ์ •์ ์œผ๋กœ ๋‚˜์™”๋Š”๋ฐ ์ •์ ํŽ„์‹ฑ์— ๋Œ€ํ•œ ์„ฑ๋Šฅ์ด ์•ฝ๊ฐ„ ์ข‹๊ฒŒ ๋‚˜์™”๋‹ค. L1, L2C ๋ชจ๋‘ ์œ„์‚ฌ์œ„์„ฑ 3๊ฐœ๊นŒ ์ง€๋Š” ๋ชจ๋“  ํŽ„์‹ฑ์— ๋Œ€ํ•ด์„œ ์ธก์œ„๊ฐ€ ๊ฐ€๋Šฅํ•œ ๊ฒƒ์œผ๋กœ ๋‚˜์™”๋‹ค.Pseudolites are ground-based transmitters that can be configured to emit GPS-like signals for enhancing the GPS by providing increased accuracy, integrity, and availability. However, a pseudolite (PL) can interfere with GPS satellite signals while it is transmitting or cause saturation to automatic gain control circuit. To solve these problems pulsing scheme is used, which transmits PL signal during a short period of time. In this paper the effect of the number of PL and pulsing scheme on the software GPS L1 and L2C signal acquisition performance is studied for the three pulsing schemes such as static pulsing, sweep pulsing, and pseudo random pulsing. For GPS L1 signal, static pulsing shows the best signal acquisition and tracking performance with one PL, and random pulsing shows the best performance with more than or equal to two PLs. For GPS L2C signal, all three pulsing schemes show the similar signal acquisition and tracking performance, but static pulsing shows a little better performance. For GPS L1 and L2C signals, software GPS receivers can do positioning with up to three PLs.OAIID:oai:osos.snu.ac.kr:snu2012-01/102/0000003405/8SEQ:8PERF_CD:SNU2012-01EVAL_ITEM_CD:102USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:์˜์‚ฌ์œ„์„ฑ์˜ ํŽ„์‹ฑ๋ฐฉ๋ฒ•์— ๋Œ€ํ•œ GPS ์†Œํ”„ํŠธ์›จ์–ด ์ˆ˜์‹ ๊ธฐ์˜ L1, L2C ์‹ ํ˜ธํš๋“ ์„ฑ๋Šฅ๋ถ„์„.pdfDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]_YN:NCONFIRM:

    Study on the Ambiguity Difference Adjustment between Reference Station Cells for the Improvement in Rovers Continuous Network-RTK Positioning

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    ๋‹จ๋ฐฉํ–ฅ Network RTK ๋ฐฉ์‹์€ ์ตœ๊ทผ ๋†’์•„์ง„ ํ•ญ์ฒด์˜ ์š”๊ตฌ ์ •ํ™•๋„์™€ ์ด๋™์„ฑ์„ ๋™์‹œ์— ์ถฉ์กฑํ•  ์ˆ˜ ์žˆ๋Š” ๋ฐฉ์‹์œผ๋กœ ๊ณ ๋ ค๋˜๊ณ  ์žˆ๋‹ค. ํ•ญ์ฒด์— ๋‹จ๋ฐฉํ–ฅ Network RTK ๋ฐฉ์‹์˜ ๋ณด์ •์ •๋ณด๋ฅผ ์ ์šฉํ•  ๊ฒฝ์šฐ, ๊ด‘์—ญ์—์„œ์˜ ์—ฐ์† ํ•ญ๋ฒ•์„ ์œ„ํ•˜์—ฌ ๋‹ค์ค‘ ์…€ ๊ธฐ๋ฐ˜์˜ Network RTK ๋ฐฉ์‹์ด ํ•„์ˆ˜์ ์ด๋‹ค. ์ด ๊ฒฝ์šฐ, ์‚ฌ์šฉ์ž๊ฐ€ ์…€ ๊ฐ„ ์ด๋™์‹œ ๋ณด์ •์ •๋ณด ์ƒ์„ฑ์— ์‚ฌ์šฉ๋˜๋Š” ๊ธฐ์ค€๊ตญ ์กฐํ•ฉ์ด ๋ฐ”๋€Œ๋ฏ€๋กœ ๋ณด์ •์ •๋ณด์˜ ๋ถˆ์—ฐ์† ๊ฐ’์ด ๋ฐœ์ƒํ•˜๋Š”๋ฐ, RTK ์œ„์น˜ ๊ฒฐ์ •์„ ์œ„ํ•œ ์ด์ค‘์ฐจ๋ถ„์œผ๋กœ๋„ ์ œ๊ฑฐ๋˜์ง€ ์•Š์•„ ์ˆ˜ํ‰ 13cm, ์ˆ˜์ง 48cm ์ˆ˜์ค€์˜ ์˜ค์ฐจ๊ฐ€ ์•ผ๊ธฐ๋จ์„ ํ™•์ธํ•˜์˜€๋‹ค. ์ด๋Ÿฌํ•œ ๋ถˆ์—ฐ์† ์ ์„ ํ•ด์†Œํ•˜๊ธฐ ์œ„ํ•˜์—ฌ ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์ด์ข… ์…€ ๊ฐ„ ๋™์ผํ•œ ์ฃผ(Master) ๊ธฐ์ค€๊ตญ์„ ์‚ฌ์šฉํ•˜๋Š” ๋ฐฉ์•ˆ, ๋ณต์ˆ˜์˜ ๋ณด์ •์ •๋ณด ์ˆ˜์‹  ๋ชจ๋“ˆ์„ ์„ค์น˜ํ•˜์—ฌ ๊ธฐ์กด ์œ„์น˜๋ฅผ ๊ธฐ์ค€์œผ๋กœ ์ƒˆ๋กœ์šด ๋ณด์ •์ •๋ณด๋ฅผ ์กฐ์ •ํ•˜๋Š” ๋ฐฉ์•ˆ, ์ด์ข… ๋„คํŠธ์›Œํฌ ๊ฐ„ ๋ฏธ์ง€์ •์ˆ˜ ์ฐจ์ด๋ฅผ ์กฐ์ •ํ•˜๋Š” ์„ธ ๊ฐ€์ง€ ๋ฐฉ๋ฒ•์„ ์ œ์‹œํ•˜์˜€๋‹ค. ์„ธ ๋ฐฉ๋ฒ• ๋ชจ๋‘ ์…€ ๊ฐ„ ์ด๋™์œผ๋กœ ์ธํ•œ ๋ถˆ์—ฐ์† ๊ฐ’์„ ํšจ๊ณผ์ ์œผ๋กœ ์ œ๊ฑฐ๋˜์–ด ์ธก์ •์น˜์˜ 1/4ํŒŒ์žฅ, 3cm ์ˆ˜์ค€์œผ๋กœ ์œ„์น˜ ์˜ค์ฐจ๊ฐ€ ๊ฐ์†Œํ•จ์ด ํ™•์ธ๋˜์—ˆ์œผ๋‚˜, ๊ธฐ์ค€๊ตญ ์…€์˜ ํ™•์žฅ์„ฑ, ์‚ฌ์šฉ์ž ์žฅ๋น„ ๋ถ€๋‹ด ๊ฒฝ๊ฐ ๋“ฑ์„ ๊ณ ๋ คํ•  ๋•Œ ์…€ ๊ฐ„ ๋ฏธ์ง€์ •์ˆ˜๋ฅผ ์กฐ์ •ํ•˜๋Š” ๋ฐฉ์‹์ด ๊ฐ€์žฅ ๋ฐ”๋žŒ์งํ•˜๋‹ค.OAIID:oai:osos.snu.ac.kr:snu2012-01/102/0000003405/2SEQ:2PERF_CD:SNU2012-01EVAL_ITEM_CD:102USER_ID:0000003405ADJUST_YN:YEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:ํ•ญํ–‰ํ•™ํšŒ_๋ฐ•๋ณ‘์šด_์ตœ์ข….hwpDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]_YN:NCONFIRM:

    Modeling of GPS measurement noise for estimating smoothed pseudorange and ionospheric delay

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    author's final versionGPS ์‹ ํ˜ธ์˜ ์ฃผ์š” ์˜ค์ฐจ ์š”์ธ ์ค‘ ์ „๋ฆฌ์ธต ์ง€์—ฐ ์˜ค์ฐจ๋Š” ์‹ ํ˜ธ ์ฃผํŒŒ์ˆ˜์— ๋”ฐ๋ผ ์ง€์—ฐ๋Ÿ‰์ด ๋‹ฌ๋ผ์ง€๋Š” ํŠน์„ฑ์„ ๊ฐ€์ง„๋‹ค. ์ด์ค‘ ์ฃผํŒŒ์ˆ˜ ์‚ฌ์šฉ์ž๋Š” L1, L2 ์ฃผํŒŒ์ˆ˜์˜ ์˜์‚ฌ๊ฑฐ๋ฆฌ ์ธก์ •์น˜์˜ ์ฐจ์ด ๊ฐ’์„ ์ด์šฉํ•˜์—ฌ ๋ณด์ •ํ•˜๊ฒŒ ๋˜๋Š”๋ฐ, ์ด๋ ‡๊ฒŒ ์ถ”์ •๋œ ์ „๋ฆฌ์ธต ์ง€์—ฐ ์ถ”์ •์น˜์—๋Š” ์˜์‚ฌ๊ฑฐ๋ฆฌ ์žก์Œ์— ์˜ํ•œ ์˜ค์ฐจ๊ฐ€ ํฌํ•จ๋˜๊ฒŒ ๋˜๋ฏ€๋กœ ์ผ๋ฐ˜์ ์œผ๋กœ ํ•„ํ„ฐ๋ฅผ ํ†ตํ•ด ์˜์‚ฌ๊ฑฐ๋ฆฌ ์ธก์ •์น˜๋ฅผ ํ‰ํ™œํ™” ์‹œํ‚จ ํ›„ ์ „๋ฆฌ์ธต ์ง€์—ฐ์„ ๊ณ„์‚ฐํ•˜๊ฒŒ ๋œ๋‹ค. Weighted hatch filter๋Š” ์ธก์ •์น˜์˜ ์žก์Œ ์ˆ˜์ค€์„ ๊ณ ๋ คํ•˜์—ฌ ์ตœ์ ์˜ ํ‰ํ™œํ™” ๋œ ์˜์‚ฌ๊ฑฐ๋ฆฌ ์ธก์ •์น˜๋ฅผ ๊ณ„์‚ฐํ•ด ๋‚ผ ์ˆ˜ ์žˆ์œผ๋‚˜, ์ด๋ฅผ ์ด์šฉํ•˜๊ธฐ ์œ„ํ•ด์„œ๋Š” ์ธก์ •์น˜ ์žก์Œ์— ๋Œ€ํ•œ ๋ชจ๋ธ๋ง์ด ํ•„์š”ํ•˜๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” NDGPS ๊ธฐ์ค€๊ตญ๋“ค์— ๋Œ€ํ•˜์—ฌ ์ธก์ •์น˜ ์žก์Œ ๋ชจ๋ธ๋ง์„ ์ˆ˜ํ–‰ํ•˜์˜€๋‹ค. ๊ทธ๋ฆฌ๊ณ  ๋ชจ๋ธ๋ง ๊ฒฐ๊ณผ๋ฅผ ๋ฐ”ํƒ•์œผ๋กœ weighted hatch filter๋ฅผ ๊ตฌ์„ฑํ•˜์—ฌ ํ‰ํ™œํ™” ๋œ ์˜์‚ฌ๊ฑฐ๋ฆฌ ์ธก์ •์น˜ ๋ฐ ์ „๋ฆฌ์ธต ์ง€์—ฐ์„ ์ถ”์ •ํ•œ ๊ฒฐ๊ณผ ํ•„ํ„ฐ๋ฅผ ์ ์šฉํ•˜์ง€ ์•Š์€ ๊ฒƒ์— ๋น„ํ•˜์—ฌ ์ „๋ฆฌ์ธต ์ง€์—ฐ ์˜ค์ฐจ์˜ ํ‘œ์ค€ํŽธ์ฐจ๊ฐ€ 1/25 ๊ฐ€๋Ÿ‰์œผ๋กœ ์ค„์–ด๋“œ๋Š” ๊ฒƒ์„ ํ™•์ธํ•˜์˜€๋‹ค.OAIID:oai:osos.snu.ac.kr:snu2012-01/102/0000003405/4SEQ:4PERF_CD:SNU2012-01EVAL_ITEM_CD:102USER_ID:0000003405ADJUST_YN:YEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:ํ•ญํ–‰ํ•™ํšŒ์ง€๋…ผ๋ฌธ_ํ•œ๋•ํ™”.hwpDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]_YN:NCONFIRM:

    Expected Accuracy of LEO Navigation Result Coordinate Transformation Using GPS EOP Data

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    GPS๋Š” ์ตœ๊ทผ ํ˜„๋Œ€ํ™” ๊ณ„ํš์˜ ์ผํ™˜์œผ๋กœ ์ƒˆ๋กœ์šด civil ์‹ ํ˜ธ๋ฅผ ์ถ”๊ฐ€ํ•˜๋Š” ์ž‘์—…์„ ์ง„ํ–‰ํ•˜๊ณ  ์žˆ๋‹ค. ์ƒˆ๋กœ์šด civil ์‹ ํ˜ธ๋Š” ๊ธฐ์กด์˜ L1 C/A ์— ์‹ค๋ ค ์žˆ๋Š” ๋ฐฉ์†ก ๋ฉ”์‹œ์ง€๋ฅผ ๋Œ€์‹ ํ•˜์—ฌ ์ƒˆ๋กœ์šด CNAV ๋ฉ”์‹œ์ง€๋ฅผ ๋ฐฉ์†กํ•  ๊ณ„ํš์ธ๋ฐ ์—ฌ๊ธฐ์—๋Š” ์ •๋ฐ€ ์ขŒํ‘œ ๋ณ€ํ™˜์— ํ•„์š”ํ•œ EOP๋ฐ์ดํ„ฐ๊ฐ€ ํฌํ•จ๋˜์–ด ์žˆ๋‹ค. EOP๋ฅผ ์ด์šฉํ•˜์—ฌ ์ขŒํ‘œ ๋ณ€ํ™˜์„ ํ•˜๊ธฐ ์œ„ํ•ด์„œ๋Š” GPS ์‹œ๊ฐ„์„ UTC์™€ UT1์œผ๋กœ ๋ณ€ํ™˜ํ•˜๊ณ  polar motion, precession, nutation, rotation, frame bias ์ˆœ์œผ๋กœ ๋ณ€ํ™˜ํ–‰๋ ฌ์„ ๊ณ„์‚ฐํ•˜์—ฌ ECEF ์—์„œ ECI๋กœ ์ขŒํ‘œ๋ณ€ํ™˜์„ ์ˆ˜ํ–‰ํ•ด์•ผ ํ•œ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์ •๋ฐ€ ์ขŒํ‘œ ๋ณ€ํ™˜ ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ์‚ดํŽด๋ณด๊ณ  ์ด๋ฅผ ์ €๊ถค๋„ ์œ„์„ฑ ๋ฐ์ดํ„ฐ์— ์ ์šฉํ•˜์˜€์„ ๋•Œ ๊ทธ ์ •ํ™•๋„๋ฅผ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ํ†ตํ•ด์„œ ์˜ˆ์ธกํ•˜์—ฌ ๋ณด๊ณ  EOP๋ฅผ ์ด์šฉํ•˜์˜€์„ ๋•Œ์˜ ์œ ์šฉ์„ฑ์„ ์˜ˆ์ธกํ•ด๋ณด์•˜๋‹ค.OAIID:oai:osos.snu.ac.kr:snu2012-01/104/0000003405/21SEQ:21PERF_CD:SNU2012-01EVAL_ITEM_CD:104USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:GPS ๋ฐฉ์†ก EOP ๋ฐ์ดํ„ฐ๋ฅผ ์ด์šฉํ•œ ์ €๊ถค๋„ ์œ„์„ฑ์˜ ํ•ญ๋ฒ•ํ•ด ์ขŒํ‘œ๋ณ€ํ™˜ ์ •ํ™•๋„ ์˜ˆ์ƒ.docDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]:

    Adaptive Arrays๋ฅผ ์ด์šฉํ•œ GNSS ๊ต๋ž€ ์‹ ํ˜ธ DOA ์ถ”์ • ๊ฐ€๋Šฅ์„ฑ ๋ถ„์„

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    GNSS(Global Navigation Satellite System) is used in a variety of fields such as aviation, ocean, cars and dependence of GNSS is increasing in our life. However, As dependence of GNSS is increasing, GNSSs vulnerabilities are appeared. One of them is GNSS Jamming. Damages of GNSS Jamming were occurred in foreign countries and Korea was also damaged by North Korean activities of GNSS Jamming.[1] There are many studies including estimation of jamming signals DOA(Direction of Arrival) for counteracting from intended jamming. The methods for estimating jamming signals DOA are largely classified two ways. One is Spectral Estimation. The other is Parametric Estimation.[2] In this paper, We calculated Tracking Threshold power to unlock L1 signal(C/A Code) and analyzed estimation possibility of DOA of CW Jamming signal having more than Tracking Threshold power using Conventional Beamforming (Bartlett Method) and MVDR (Minimum Variance Distortionless Responses) algorithms under the Beamforming/Nulling methods.OAIID:oai:osos.snu.ac.kr:snu2012-01/104/0000003405/20SEQ:20PERF_CD:SNU2012-01EVAL_ITEM_CD:104USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:๋…ผ๋ฌธ_์†กํ™๊ธฐ(Adaptive Arrays๋ฅผ ์ด์šฉํ•œ GNSS ๊ต๋ž€์‹ ํ˜ธ DOA ์ถ”์ • ๊ฐ€๋Šฅ์„ฑ ๋ถ„์„).pdfDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]:

    Quaternion-based AHRS Improved by Inertial Sensor Bias Compensation

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    ์ž์„ธ ๋ฐ ๋ฐฉ์œ„ ๊ฒฐ์ • ์‹œ์Šคํ…œ(AHRS)์€ ์ž์ด๋กœ ๋ฐ”์ด์–ด์Šค๋ฅผ ์ถ”์ •ํ•˜๊ธฐ ์œ„ํ•˜์—ฌ ๊ฐ€์†๋„๊ณ„ ์„ผ์„œ์™€ ์ง€์ž๊ธฐ ์„ผ์„œ๋ฅผ ์ด์šฉํ•œ๋‹ค. ์ €๊ฐ€์˜ MEMS ๊ฐ€์†๋„๊ณ„์˜ ๊ฒฝ์šฐ ๋ฐ”์ด์–ด์Šค ์•ˆ์ •๋„๋„ ๋‚ฎ์„ ๋ฟ๋งŒ ์•„๋‹ˆ๋ผ ์ˆ˜์‹ญ mg ์˜ ์ดˆ๊ธฐ ์˜ค์ฐจ๋ฅผ ๊ฐ€์ง„๋‹ค. ์ด๋Ÿฌํ•œ ๊ฐ€์†๋„๊ณ„ ๋ฐ”์ด์–ด์Šค ์˜ค์ฐจ๋Š” ์ €๊ฐ€ MEMS ์„ผ์„œ๋กœ ๊ตฌ์„ฑ๋œ AHRS ์˜ ์ž์„ธ ์ •ํ™•๋„๋ฅผ ๊ฐ์†Œ์‹œํ‚จ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์ž์ด๋กœ ๋ฐ”์ด์–ด์Šค๋ฟ๋งŒ ์•„๋‹ˆ๋ผ ๊ฐ€์†๋„๊ณ„ ๋ฐ”์ด์–ด์Šค๋ฅผ ์‹ค์‹œ๊ฐ„ ์ถ”์ •ํ•จ์œผ๋กœ์จ ์ž์„ธ ๋ฐ ๋ฐฉ์œ„๊ฐ์˜ ์ •ํ™•๋„๋ฅผ ํ–ฅ์ƒ์‹œํ‚ค๋Š” ์ฟผํ„ฐ๋‹ˆ์–ธ ๊ธฐ๋ฐ˜ ํ™•์žฅ์นผ๋งŒํ••ํ„ฐ ์•Œ๊ณ ๋ฆฌ๋“ฌ์„ ์ œ์‹œํ•˜๊ณ , ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ํ†ตํ•ด ์ œ์‹œ๋œ ์•Œ๊ณ ๋ฆฌ๋“ฌ์˜ ์„ฑ๋Šฅ์„ ๊ฒ€์ฆํ•œ๋‹ค.Attitude Heading Reference System (AHRS) uses accelerometer and magnetic sensor to compensate gyro bias. A lowcost MEMS grade accelerometer has tens of mg of initial bias as well as low in-run bias stability. This uncorrected initial bias of accelerometer is the main factor to reduce the accuracy of AHRS consisted of MEMS grade inertial sensors. This paper describes the quaternion-based extended Kalman filter algorithm to improve the attitude accuracy by estimating gyro and accelerometer bias together. Simulation results verify the performance of the proposed method.OAIID:oai:osos.snu.ac.kr:snu2012-01/104/0000003405/14SEQ:14PERF_CD:SNU2012-01EVAL_ITEM_CD:104USER_ID:0000003405ADJUST_YN:NEMP_ID:A000360DEPT_CD:446CITE_RATE:0FILENAME:์กฐ์•”_์‹ค์ ์ž๋ฃŒ_2012KSAS์ถ”๊ณ„.pdfDEPT_NM:๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€EMAIL:[email protected]:
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